urtware / inc / urt_publisher.h @ 408b49ce
History | View | Annotate | Download (3.248 KB)
| 1 |
/*
|
|---|---|
| 2 |
µRtWare is a lightweight publish/subscribe middleware for real-time
|
| 3 |
applications. It was developed as part of the software habitat for the
|
| 4 |
Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
|
| 5 |
|
| 6 |
Copyright (C) 2018..2020 Thomas Schöpping et al.
|
| 7 |
|
| 8 |
This program is free software: you can redistribute it and/or modify
|
| 9 |
it under the terms of the GNU General Public License as published by
|
| 10 |
the Free Software Foundation, either version 3 of the License, or
|
| 11 |
(at your option) any later version.
|
| 12 |
|
| 13 |
This program is distributed in the hope that it will be useful,
|
| 14 |
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
| 15 |
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
| 16 |
GNU General Public License for more details.
|
| 17 |
|
| 18 |
You should have received a copy of the GNU General Public License
|
| 19 |
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
| 20 |
*/
|
| 21 |
|
| 22 |
#ifndef URTWARE_PUBLISHER_H
|
| 23 |
#define URTWARE_PUBLISHER_H
|
| 24 |
|
| 25 |
#include <urt_types.h> |
| 26 |
#include <urtware.h> |
| 27 |
|
| 28 |
/******************************************************************************/
|
| 29 |
/* CONSTANTS */
|
| 30 |
/******************************************************************************/
|
| 31 |
|
| 32 |
/******************************************************************************/
|
| 33 |
/* SETTINGS */
|
| 34 |
/******************************************************************************/
|
| 35 |
|
| 36 |
/******************************************************************************/
|
| 37 |
/* CHECKS */
|
| 38 |
/******************************************************************************/
|
| 39 |
|
| 40 |
/******************************************************************************/
|
| 41 |
/* DATA STRUCTURES AND TYPES */
|
| 42 |
/******************************************************************************/
|
| 43 |
|
| 44 |
/**
|
| 45 |
* @brief publisher
|
| 46 |
*/
|
| 47 |
typedef struct urt_publisher |
| 48 |
{
|
| 49 |
urt_topic_t* topic; |
| 50 |
#if (URT_CFG_PUBSUB_PROFILING)
|
| 51 |
uint64_t publishAttempts; |
| 52 |
uint64_t publishFails; |
| 53 |
#endif /* URT_CFG_PUBSUB_PROFILING */ |
| 54 |
}urt_publisher_t; |
| 55 |
|
| 56 |
/******************************************************************************/
|
| 57 |
/* MACROS */
|
| 58 |
/******************************************************************************/
|
| 59 |
|
| 60 |
/******************************************************************************/
|
| 61 |
/* EXTERN DECLARATIONS */
|
| 62 |
/******************************************************************************/
|
| 63 |
|
| 64 |
#if defined(__cplusplus)
|
| 65 |
extern "C" { |
| 66 |
#endif /* defined(__cplusplus) */ |
| 67 |
|
| 68 |
void urtPublisherInit(urt_publisher_t* publisher, urt_topic_t* topic, urt_message_t* message);
|
| 69 |
urt_status_t urtPublisherPublish(urt_publisher_t* publisher, void* payload, size_t bytes, urt_osTime_t t, urt_delay_t timeout);
|
| 70 |
#if defined(__cplusplus)
|
| 71 |
} |
| 72 |
#endif /* defined(__cplusplus) */ |
| 73 |
|
| 74 |
/******************************************************************************/
|
| 75 |
/* INLINE FUNCTIONS */
|
| 76 |
/******************************************************************************/
|
| 77 |
|
| 78 |
#endif /* URTWARE_PUBLISHER_H */ |